Digital controller

ABSTRACT

There is provided a digital controller which can generate no oscillation even if sensing a load side and enables control of supplying a desired voltage to the load. In an power amplifier which supplies an output voltage v o  to the load connected via a load connecting line, a load voltage v L  and the output voltage v o  are periodically sampled to calculate a manipulating variable ξ 1  from the output voltage v o , the load voltage v L  and an arbitrary target value r. Based on the manipulating variable ξ 1  calculated, a control signal is output to the power amplifier. As a result, when connecting an LC filter with a load device  9  of the power amplifier intended for a control target and besides the load connecting line is long, a robust digital controller without generating oscillation even if sensing the load side is performed can be realized.

TECHNICAL FIELD

The present invention relates to a digital controller incorporated in a power amplifier or the like such as a switching regulator to control an output voltage supplied to load, particularly to a digital controller which can meet both a load variation and a power supply voltage fluctuation with a single configuration.

BACKGROUND ART

In a switching regulator as one type of a power amplifier for supplying electric power to a load device, an LC filter is commonly inserted between output terminals of the switching regulator and the load device in order to eliminate noises. When a load connecting line that connects the output terminals of the switching regulator and the load device is long, an equivalent circuitry with the same function as that obtained by inserting the above LC filter is resulted due to floating capacitance and inductance components present in the load connecting line.

FIG. 7 is a circuit diagram representing a circuitry in which an LC circuit is inserted between the output terminals of the switching regulator and the load device. In the figure, a series circuit of switching elements 2, 3 comprising, e.g., MOSFETs are connected across the direct-current power supply 1 with an input voltage vi. By inputting mutually inverted switching pulses from a controller 4 to gates acting as drive terminals of the switching elements 2, 3, the switching elements 2, 3 conduct alternately. A series circuit of a choke coil 5 and a smoothing capacitor 6 is connected with a line between a drain and source of the switching element 3. Both terminals of the smoothing capacitor 6 correspond to output terminals for outputting an output voltage v_(o). Then, a series circuit of an inductor 7 and capacitor 8 which comprises, e.g., the LC filter and the load connecting line is connected across the smoothing capacitor 6. Both terminals of the capacitor 8 are connected with the load device 9, supplying electric power to the load device 9.

Further, a negative feedback circuit 18 for remotely sensing a load voltage v_(L) is connected with a load connecting line connecting both the terminals of the capacitor 8 and the load device 9. Hereunder is a description of the negative feedback circuit 18. A series circuit of resistors 10, 11 is connected between the load connecting lines. The load voltage v_(L) is divided by the resistors 10, 11 and the voltage thus divided is input to an inverting input terminal of an error amplifier 12. A reference voltage of a reference voltage supply 13 is input to a noninverting input terminal of the error amplifier 12. An output terminal of the error amplifier 12 is connected with a cathode of a photo diode 15. An anode of the photo diode 15 is connected, via the resistor 14, with one terminal, a positive side of the load voltage v_(L), of the capacitor 8. Further, a capacitor 16 is connected between an output terminal and the inverting input terminal of the error amplifier 12. The photo diode 15 pairs with a phototransistor 17 and thus when the photo diode 15 conducts, a signal caused by the conduction is input to the controller 4 via the phototransistor 17. The feedback circuit 18 functions to feedback comparison information between the load voltage v_(L) and the reference voltage, so that the controller 4 performs the well-known controls such as PWM control and PFM control for a switching pulse input to gates of the switching elements 2, 3.

According to the analogue control described above, there has been a problem that when the LC filter is connected with load of the switching regulator, or the load connecting line is long, sensing of a load side causes output oscillation. FIG. 8 denotes a Bode diagram of the circuit shown in FIG. 7. FIG. 8 shows that a gain at a phase 0 degree is larger than zero and thus oscillation inevitably occurs. As a means for suppressing the oscillation, reducing the whole gain may be considered but degraded response characteristics is unavoidable. If a sensing point is shifted to an output end of an electric power supply, there occurs no oscillation, yet there occurs a voltage drop due to the resistive component of the load connecting line and the inductor, resulting in no desired load voltage v_(L) being obtained.

As a solution to solve this problem, Patent Document 1 discloses a technique in which a target value of an output terminal voltage is calculated in anticipation of a voltage drop in the load connecting line without setting the sensing point at a load end, whereby feedback control is performed in which an influence of the voltage drop in the load connecting line is taken into account.

Patent document 1: Japanese unexamined patent publication No. 9-34561

DISCLOSURE OF THE INVENTION Problem to be solved by the Invention

According to the method of the above patent document 1, however, from the result of multiplying a load current value by a load connecting line conducting resistance, a voltage drop due to the load connecting line is estimated to correct a target value of a voltage at a load end. Hence, a high-speed response to a load variation cannot be performed, resulting in instability of an output voltage.

Therefore, in view of the above problem, it is an object of the present invention to provide a digital controller which enables such control as to supply a desired voltage to a load without causing oscillation even if sensing a load side is performed.

Mean for solving the Problem

According to first to fifth aspects of the present invention, there is provided a digital controller incorporated in a power amplifier which supplies an output voltage v_(o) to a load connected via a load connecting line, the digital controller being equipped with a manipulating variable calculator built up so as to realize a control system obtained by equivalently converting a formula for calculating manipulating variable ξ₁ for the power amplifier with an output voltage v_(o), a load voltage v_(L) that is a load end voltage, and an arbitrary target value r, defined as input.

Accordingly, when an LC filter is connected with the load of a power amplifier as a control target or a load connecting line is long, a robust digital controller without oscillating even if sensing the load side is performed can be realized.

Further, a sixth aspect of the present invention is a digital controller in which the manipulating variable calculator is schemed to omit parameters too small to largely influence a control system from among parameters used to calculate the manipulating variable ξ₁ (xi₁).

Furthermore, a seventh aspect of the present invention is a digital controller in which the manipulating variable calculator is schemed so as to dispense with each of feedforward multipliers.

Accordingly, the formula for calculating the manipulating variable ξ₁ is simplified to enable arithmetic processing to speed up and a calculator to be simplified.

EFFECTS OF THE INVENTION

According to the first to fifth aspects of the present invention, a digital controller can be provided in which even if sensing the load side is performed, there occurs no oscillation to enable a desired voltage to be applied to a load.

Further, according to sixth and seventh aspects of the present invention, high-speed digital control becomes possible. Besides, the configuration of the calculator is simplified, thus enabling a cost to be controlled.

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, a preferred embodiment of a digital controller according to the present invention is described with reference to the appended drawings, in which the same reference symbols are used for parts the same as in a conventional example and common descriptions thereof are omitted for avoiding duplicate descriptions as much as possible.

FIG. 1 is a circuit diagram representing a circuitry of a switching regulator mounted with the digital controller according to the present invention. As is the case with a configuration in FIG. 7 representing the conventional example, a load device 9 is connected via an LC circuit comprising an inductor 7 and a capacitor 8. In FIG. 1, a controller 4 and a feedback circuit 18 in the circuit shown in FIG. 7 is replaced by a robust digital controller 20 comprising, e.g., a DSP (Digital Signal Processor) or the like. In FIG. 1, a series circuit of switching elements 2, 3 comprising, e.g. MOSFETs is connected across a direct-current power source 1 with an input voltage vi. Mutually alternately inverted switching pulses are input to gates acting as driving terminals of the switching elements 2, 3, which conduct alternately as a result. A series circuit of choke coil 5 and smoothing capacitor 6 is connected between a drain and source of the switching element 3. Both terminals of the smoothing capacitor 6 correspond to output terminals outputting the output voltage v_(o) and a series circuit of the inductor 7 and capacitor 8 which comprise, e.g., an LC filter and a load connecting line is connected across the capacitor 6. Both terminals of the capacitor 8 are connected with the load device 9 to supply electric power to the load device 9. Further, the robust digital controller 20 for remotely sensing the voltage v_(L) is connected with the load connecting line connecting both the terminals of the capacitor 8 and the load device 9 in order to remotely sense the voltage v_(L).

The robust digital controller 20 comprises an A/D converter 21 which periodically samples (discretization) analogue signals such as an output voltage v_(o) and the load voltage v_(L) to convert the signals sampled into digital signals, the manipulating variable calculator 22 which calculates a manipulating variable ξ₁ based on feedback signals made discrete by the A/D converter 21, i.e., the above digital signals and a target value r, and a PWM output unit 23, acting as a control output unit, which produces, in response to the manipulating variable ξ₁, switching pulses acting as control signals to output the switching pulses to the gates of the switching elements 2, 3. The robust digital controller 20 according to the present invention detects, with the A/D converter 21, at least two points of the output voltage v_(o) and load voltage v_(L) or up to four points if including an output choke coil current iLL and a load inductance current iLL to determine the manipulating variable ξ₁ for control. The manipulating variable ξ₁ referred to here corresponds to a duty of the switching pulses in the case of, e.g., PWM control. The present invention can be applied to PFM control or the like. When being applied to the PFM control, the manipulating variable ξ₁ corresponds to the frequency of the switching pulse. Furthermore, the present invention can be applied to all power supply devices in which the LC filter is connected with load of the power supply device and hence a noise reduction in power supply output can be easily attained.

Next is a description of the manipulating variable calculator 22 that features the robust digital controller 20 with reference to FIG. 2, which is a block diagram representing a fundamental configuration of a control system created by modeling an electric circuit system shown in FIG. 1. In the meantime, the robust digital control system described below is substantially in accordance with the international application PCT/JP2005/013834 filed by present applicant previously under PCT. For details such as the state equations, respective transfer elements or the like which are employed for the control system, the specification etc. of international application may be referred to.

Describing each configuration in the block diagram in FIG. 2, numeral symbol 30 denotes control target elements which satisfy a state equation expressed by the following formula 6, when an input u=ξ₁ and a control variable y are each given with respect to a load inductance current iLL corresponding to an output current building up each element of a matrix x and the load voltage v_(L). Specifically, the control target elements correspond to a converter section of the switching regulator and the LC filter comprising the inductor 7 and the capacitor 8.

{dot over (x)} _(d) =A _(d) x _(d) +B _(d) u

y=C_(d)x_(d)  [Formula 6]

Depending on the circuitry, appropriate values are determined for each of matrixes Ad, Bd and Cd.

At the same time, parts other than the control target elements 30 correspond to the manipulating variable calculator 22 of the robust digital controller 20 building up an integral type control system. The manipulating variable calculator 22 comprises a combination of each of the transfer elements 31, 33 and 34 acting as a digital filter and an adding point 22 acting as an adder. Then, transfer functions G_(r), G_(VO) and G_(VL) of each of the transfer elements 31, 33 and 34, respectively are expressed as the following formulae 7.

$\begin{matrix} {{G_{Vo} = \frac{{\left( {z - F_{16}} \right)F_{12}} + F_{14}}{{z\left( {z - F_{16}} \right)} - F_{15}}}{G_{VL} = \frac{\begin{matrix} {{\frac{1}{z - 1}{\left( {z - 1} \right)\left\lbrack {{\left( {z - F_{16}} \right)F_{112}} + F_{132}} \right\rbrack}} -} \\ {{{k_{z}\left( {z - F_{16}} \right)}H} + {k_{z}H_{r}}} \end{matrix}}{{z\left( {z - F_{16}} \right)} - F_{15}}}{G_{r} = {\frac{1}{z - 1}\frac{{\left( {z - 1} \right)\left\lbrack {{\left( {z - F_{16}} \right)H} + H_{r}} \right\rbrack} + {{k_{z}\left( {z - F_{16}} \right)}H} + {k_{z}H_{r}}}{{z\left( {z - F_{16}} \right)} - F_{15}}}}} & \left\lbrack {{Formulae}\mspace{14mu} 7} \right\rbrack \end{matrix}$

where G_(VO) denotes a transfer function from the output voltage v_(o) to the ξ₁,

G_(VL) denotes a transfer function from the load voltage v_(L) to the manipulating variable ξ₁, and

G_(r), denotes a transfer function from a target value r of the load voltage to the ξ₁,

and therefore the manipulating variable ξ₁ acting as an output from the adding point 32 can be expressed as the following formula 8.

$\begin{matrix} {\xi_{1} = {\frac{1}{{z\left( {z - F_{16}} \right)} - F_{15}} \left\{ {{\left\lbrack {\left( {z - F_{16}} \right) + F_{12} + F_{14}} \right\rbrack  v_{o}} + {\left\lbrack {{\left( {z - F_{16}} \right)F_{112}} + F_{132}} \right\rbrack v_{L}} + {{\frac{k_{z}}{z - 1}\left\lbrack {{\left( {z - F_{16}} \right)H} + H_{r}} \right\rbrack}\left( {r - v_{L}} \right)} + {\left\lbrack {{\left( {z - F_{16}} \right)H} + H_{r}} \right\rbrack r}} \right\}}} & \left\lbrack {{Formula}\mspace{14mu} 8} \right\rbrack \end{matrix}$

In the above formulae 7, 8, z=exp (jωt) and H, Hr are poles of transfer functions specified between the target value r and the control variable y and further kz, F₁₂, F₁₄, F₁₅, F₁₆, F₁₁₂, F₁₃₂ are parameters preset depending on the control system.

Describing more minutely the fundamental configuration shown in FIG. 2, a transfer element 31 with a transfer function G_(r) is connected with the target value r defined as input, a feedback element 33 with a transfer function G_(VO) is connected with the output voltage v_(o) defined as input, a feedback element 34 with a transfer function G_(VL) is connected with the output voltage V_(L) defined as input, an output from the transfer element 31 and an output from each of the feedback elements 33, 34 are added at the adding point 32, and an output produced by the addition at the adding position 32 is applied to a control target element 30 with a calculation delayed output ξ₁ inside the robust digital controller 20, defined as input. Thus, the manipulating variable calculator 22 of the robust digital controller 20 is configured. In addition, each of the transfer elements 31, 33 and 34 may be configured as an individual manipulating variable calculator which performs calculation using the transfer functions G_(r), G_(VO) and G_(VL) for the target value r that has been input, the output voltage v_(o) and the load voltage v_(L).

In the above formula, when noting an integrator 1/(z−1) provided in each of the transfer functions G_(VL), G_(r), the controller configuration shown in FIG. 2 can be also replaced by the configuration shown in FIG. 3. In FIG. 3, the manipulating variable calculator 22 is configured by combining each of the transfer elements 33, 40, 41, 44 acting as a digital filter, an element 83 acting as an integrator with an order of 1/(z−1), the adding point 32 acting as an adder, and an adding point 42 acting as a subtracter. Here, the transfer functions G_(r2), G_(VL2), G_(e) of each of the transfer elements 40, 41, 44 can be expressed as the following formulae 9, respectively.

$\begin{matrix} {{G_{{VL}\; 2} = \frac{{\left( {z - F_{16}} \right)F_{112}} + F_{132}}{{z\left( {z - F_{16}} \right)} - F_{15}}}{G_{e} = \frac{{\left( {z - F_{16}} \right)k_{z}H} + {k_{z}H_{r}}}{{z\left( {z - F_{16}} \right)} - F_{15}}}{G_{r\; 2} = \frac{{\left( {z - F_{16}} \right)H} + H_{r}}{{z\left( {z - F_{16}} \right)} - F_{15}}}} & \left\lbrack {{Formulae}\mspace{14mu} 9} \right\rbrack \end{matrix}$

Describing more minutely the configuration shown in FIG. 3, a feedforward element 40 with a transfer function G_(r2) is connected with the target value r defined as input; a feedback element 33 with a transfer function G_(VO) is connected with the output voltage v_(o) defined as input; a feedback element 41 with a transfer function G_(VL) is connected with the output voltage v_(L) defined as input; a difference between the target value r and v_(L) is input from the adding point 42 to an integral element 43 with an order of 1/(z−1), an output from the integral element 43 is input to a transfer element 44 with a transfer function G_(e), an output from the transfer element 44, an output from the feedforward element 40 and an output from each of feedback elements 33, 41 are added at the adding point 32, and an output produced by the addition at the adding position 32 is applied to the control target element 30 with a calculation delayed output ξ₁ inside the robust digital controller 20 defined as input. Thus, the manipulating variable calculator 22 of the robust digital controller 20 is configured.

Further, when noting the structure of each of the transfer functions G_(VO), G_(r2), G_(VL2) in FIG. 3, the following formula 10 can be expressed in a generalized form.

$\begin{matrix} {G = \frac{{\left( {z - F_{16}} \right)X} + Y}{{z\left( {z - F_{16}} \right)} - F_{15}}} & \left\lbrack {{Formula}\mspace{14mu} 10} \right\rbrack \end{matrix}$

With respect to the generalized transfer function G, when an input and an output are defined as u and y, respectively, the following formula 11 can be expressed and when expressing the transfer function G with a block diagram, FIG. 4 can be drawn.

$\begin{matrix} {y = {{uG} = {u\frac{{\left( {z - F_{16}} \right)X} + Y}{{z\left( {z - F_{16}} \right)} - F_{15}}}}} & \left\lbrack {{Formula}\mspace{14mu} 11} \right\rbrack \end{matrix}$

In FIG. 4, transfer elements 50, 51 of parameters X, Y are connected with an input u defined as input, a feedback element 52 with a parameter F₁₅ is connected with the output y defined as input, an output from the transfer element 50 and an output from each of feedback elements 52, 54 is added at an adding point 51, an output produced by the addition at the adding point 51 is input to a delay element 53 with an order of 1/z, the delayed output from the delay element 53 is input to the feedback element 54 with a parameter F₁₆, an output from the delay element 53 and an output from the transfer element 51 are added at an adding point 55, and further an output produced by the addition at the adding point 55 is input to a delay element 57 with an order of 1/z and then the delayed output from the delay element 57 results in the output y.

Each of the transfer elements 33, 40, 41, 44 shown in FIG. 3 has the same configuration and hence these transfer elements can be built up in the form of FIG. 5 using the configuration shown in FIG. 4. In FIG. 5, the manipulating variable calculator 22 can be configured by combining transfer elements 52, 54, 60 to 67 acting as a multiplier having each of parameters F₁₂, F₁₄, F₁₅, F₁₆, F₁₁₂, F₁₃₂, H, Hr, Hkz and Hrkz, delay elements 53, 57 acting as a delay element with an order of 1/z corresponding to one sample delay, an integral element 43 acting as an integrator with an order of 1/(z−1), the adding point 42 acting as a subtracter, and the adding points 51, 55 acting as an adder. In addition, among the parameters H, Hr, Hkz, Hrkz, F₁₂, F₁₄, F₁₅, F₁₆, F₁₁₂ and F₁₃₂, those having too small a value to exert an influence on the control system can be omitted and then each of the feedforward elements 60, 61 can be also omitted. As a result, formulae for calculating the manipulating variable ξ₁ are simplified to reduce a calculating burden, enabling the arithmetic process to speed up and the calculator to be simplified.

Now the configuration shown in FIG. 5 is more minutely described: each of feedforward elements 60, 61 of the parameters Hr, H, respectively is connected with the target value r defined as input; each of feedback elements 62, 64 with the parameters F₁₂, F₁₄ is connected with the output voltage v_(o) defined as input; each of feedback elements 63, 65 with the parameters F₁₁₂, F₁₃₂, respectively is connected with the output voltage v_(L) defined as input; a difference between the target value r and the output voltage v_(L) is input from the adding point 42 to an integral element 43 with an order of 1/(z−1), the output from the integral element 43 is input to each of transfer elements 66, 67 with parameters Hkz, Hrkz, and then the output from the transfer element 67, the output from each of the feedback elements 64, 65, the output from each of the feedback elements 52, 54 with parameters F₁₅, F₁₆ and the output from the feedforward element 60 are added at the adding point 51; the output produced by the addition at the adding point 51 is input to the delay element 53 with an order of 1/z; the delayed output ξ₂ from the delay element 53 is input to the feedback element 54 with the parameter F₁₆; the delayed output ξ₂ from the delay element 53, the output from each of the feedback elements 62, 63, the output from the feedforward element 61, and the output from the transfer element 66 are added at the adding point 55; the output produced by the addition at the adding point 55 is input to the delay element 57 with an order of 1/z; the delayed output ξ₁ from the delay element 57 is input to the feedback element 52 with the parameter F₁₅ and is applied to the control target element 30. Thus way, the manipulating variable calculator 22 of the robust digital controller 20 is configured.

The switching regulator using the robust digital controller 20 thus obtained generates no oscillation even if sensing the load side is performed when the LC filter is connected with the load of the switching regulator or the load connecting line is long. FIG. 6 denotes a Bode diagram shown in FIG. 1. It can be appreciated that unlike FIG. 8 representing the conventional controller, the gain is smaller than zero when a phase is at zero and thus oscillation is suppressed.

As described above, the robust digital controller 20 according to the present embodiment is a digital controller incorporated in a power amplifier for supplying the output voltage v_(o) to the load device 9 connected via the load connecting line and besides is equipped with the manipulating variable calculator 22 which calculates the manipulating variable ξ₁ for the power amplifier with the output voltage v_(o), the load voltage v_(L) that is a voltage across the load, an arbitrary target value r, defined as input.

Further, in the robust digital controller 20 according to the present embodiment, the manipulating variable calculator 22 is equipped with a feedforawrd element 40 corresponding to a first manipulating variable calculator with the target value r defined as input, the feedback element 33 corresponding to a second manipulating variable calculator with the output voltage v_(o) defined as input, the feedback element 41 corresponding to a third manipulating variable calculator with the load voltage v_(L) defined as input, the adding point 42 acting as a subtracter which outputs the difference between the target value r and the load voltage v_(L), the integral element 43 acting as an integrator which integrates a difference output from the adding point 42, and the transfer element 44 corresponding to a fourth manipulating variable calculator with the output from the integral element 43, defined as input. Then, the robust digital controller 20 according to the present embodiment performs an arithmetic operation using the first to fourth manipulating variable calculators to output the manipulating variable ξ₁.

Further, in the robust digital controller 20 according to the present embodiment, in accordance with the following formula,

$\begin{matrix} {\xi_{1} = {\frac{1}{{z\left( {z - F_{16}} \right)} - F_{15}}\left\{ {{\left\lbrack {{\left( {z - F_{16}} \right)F_{12}} + F_{14}} \right\rbrack v_{o}} + {\left\lbrack {{\left( {z - F_{16}} \right)F_{112}} + F_{132}} \right\rbrack v_{L}} + {{\frac{k_{z}}{z - 1}\left\lbrack {{\left( {z - F_{16}} \right)H} + H_{r}} \right\rbrack}\left( {r - v_{L}} \right)} + {\left\lbrack {{\left( {z - F_{16}} \right)H} + H_{r}} \right\rbrack r}} \right\}}} & \left\lbrack {{Formula}\mspace{14mu} 12} \right\rbrack \end{matrix}$

(where z=exp(jωt), H and Hr are poles of the transfer function specified between the target value r and the control variable y, and further kz, F₁₂, F₁₄, F₁₅, F₁₆, F₁₁₂, F₁₃₂, are preset given parameters) the manipulating variable calculator is so schemed as to calculate the manipulating variable ξ₁.

Furthermore, in the robust digital controller 20 according to the present embodiment, the manipulating variable calculator 22 comprises the following elements and the adding points:

the feedforward element 40 to which the target value r is input and acts as a first digital filter with a transfer function G_(r2) expressed by the formula 13,

$\begin{matrix} {G_{r\; 2} = \frac{{\left( {z - F_{16}} \right)H} + H_{r}}{{z\left( {z - F_{16}} \right)} - F_{15}}} & \left\lbrack {{Formula}\mspace{14mu} 13} \right\rbrack \end{matrix}$

the feedback element 33 to which the output voltage v_(o) is input and acts as a second digital filter with a transfer function G_(VO) expressed by the formula 14,

$\begin{matrix} {G_{r\; 2} = \frac{{\left( {z - F_{16}} \right)H} + H_{r}}{{z\left( {z - F_{16}} \right)} - F_{15}}} & \left\lbrack {{Formula}\mspace{14mu} 14} \right\rbrack \end{matrix}$

the feedback element 41 to which the load voltage v_(L) is input and acts as a third digital filter with a transfer function G_(VL2) expressed by the formula 15,

$\begin{matrix} {G_{{VL}\; 2} = \frac{{\left( {z - F_{16}} \right)F_{112}} + F_{132}}{{z\left( {z - F_{16}} \right)} - F_{15}}} & \left\lbrack {{Formula}\mspace{14mu} 15} \right\rbrack \end{matrix}$

the adding point 42 acting as a subtracter which outputs the difference between the target value r and the load voltage v_(L), the integral element 43 acting as an integrator which integrates the difference output from the adding point 42, and the transfer element 44 to which the output from the integral element 43 is input and acts as a fourth digital filter with a transfer function G_(e) expressed by the formula 16,

$\begin{matrix} {G_{e} = \frac{{\left( {z - F_{16}} \right)k_{z}H} + {k_{z}H_{r}}}{{z\left( {z - F_{16}} \right)} - F_{15}}} & \left\lbrack {{Formula}\mspace{14mu} 16} \right\rbrack \end{matrix}$

and further the adding point 32 acting as an adder which adds outputs from the feedforward element 40, the feedback elements 33, 41 and the transfer element 44 to output the manipulating variable ξ₁.

Furthermore, in the robust digital controller 20 according to the present embodiment, the manipulating variable calculator 22 is configured as follows: connected is the feedforward elements 60, 61 acting as each of feedforward multipliers which multiply the parameters Hr, H by the target value r defined as input; connected is the feedback elements 62, 64 acting as each of feedback multipliers which multiply the parameters F₁₂, F₁₄ by the output voltage v_(o) defined as input; the feedback elements 63, 65 which multiply the parameters F₁₁₂, F₁₃₂ by the load voltage v_(L) defined as input; the difference between the target value r and the load voltage v_(L) d is input from the adding point 42 to the integral element 43 acting as an integrator; the output from the integral element 43 is input to the transfer elements 66, 67 each acting as a multiplier which does the multiplication of each of the parameters Hkz, Hrkz, respectively; the output from the transfer element 67 of the parameter Hrkz, the output from the feedback elements 64, 52, 54, 65 each acting as a multiplier which does the multiplication of the parameters F₁₄, F₁₅ F₁₆, F₁₃₂, respectively, and the output from the feedforward element 60 which does the multiplication of the parameter Hr are added at the adding point 51 acting as a first adder 51; the output produced by the addition at the adding point 51 is input to the delay element 53 acting as a delay element for performing delay of one sampling time; the delayed output ξ₂ from the delay element 53 is input to the output from the feedback element 54 with the parameters F₁₆, the delayed output t2 from the delay element 53, the outputs from each of the feedback elements 62, 63 with the parameters F₁₂, F₁₁₂, the output from the feedforward element 61 with the parameter H, and the output from the transfer element 66 with the parameter Hkz are added at the adding point 55 acting as a second adder; the output produced by the addition at the adding point 55 is input to the delay element 57 acting as a second delay element for performing delay of one sampling time; and the delayed output ξ₁ from the delay element 57 is input to the feedback element 52 with the parameter F₁₅.

Consequently, when the LC filter is connected with the load device 9 of the power amplifier intended for the control target and the load connecting line is long, the robust digital controller without oscillating in its output if sensing the load side can be realized. Accordingly, a digital controller can be provided which develops no oscillation even if sensing the load side is performed and can apply a desired voltage to the load device.

Moreover, in the robust digital controller 20 according to the present embodiment, the manipulating variable calculator 22 is so schemed as to omit the parameters which are too small to influence largely the control system from among the parameters H, Hr, kz, F₁₂, F₁₄ F₁₅, F₁₆, F₁₁₂, F₁₃₂.

Further, in the robust digital controller 20 according to the present embodiment, the manipulating variable calculator 22 is so schemed as to omit each of the feedfoward elements 60, 61

Hence, a formula for arithmetic operation of the manipulating variable ξ₁ is simplified, permitting the high-speed digital control or permitting the costs to be curbed by simplifying the structure of the calculator.

In addition, the present invention is not limited to the above embodiment and various modifications are possible within the scope not departing the gist of the present invention. A wide variety of types of converters such as an insulated type converter using a transformer, a converter with a plurality of switching elements (e.g., a half-bridge converter and a full-bridge converter) or the like is, e.g., applicable for the configuration of the converter, shown in FIG. 1, intended for the control target. Besides, the digital controller according to the present embodiment is applicable to all sorts of devices where a feedback function is applied.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a circuit diagram illustrating a configuration of a switching regulator mounted with a digital controller according to the present invention.

FIG. 2 is a block diagram illustrating a control system of the digital controller according to the present invention.

FIG. 3 is a block diagram illustrating a modified example produced by equivalently converting the block diagram in FIG. 2.

FIG. 4 is a block diagram illustrating a common configuration of transfer functions shown in FIG. 3.

FIG. 5 is a block diagram illustrating a modified example produced by equivalently converting the block diagram in FIG. 3 using the configuration in FIG. 4.

FIG. 6 is a Bode diagram illustrating a frequency characteristic of a switching regulator in FIG. 1.

FIG. 7 is a circuit diagram illustrating a configuration of a switching regulator mounted with an analogue controller in a conventional example.

FIG. 8 is a Bode diagram illustrating a frequency characteristic of the switching regulator in FIG. 7.

DESCRIPTION OF REFERENCE SYMBOLS

-   9: load device -   20: robust digital controller -   22: manipulating variable calculator -   32: adding point (adder) -   33: feedback element (second manipulating variable calculator,     second digital filter) -   40: feedforward element (first manipulating variable calculator,     first digital filter) -   41: feedback element (third manipulating variable calculator, third     digital filter) -   42: adding point (subtractor) -   43: integral element (integrator) -   44: transfer element (fourth digital filter) -   51: adding point (first adder) -   52, 54: feedback element (feedback multiplier) -   53: delay element (first delay element) -   55: adding point (second adder) -   57: delay element (second delay element) -   60, 61: feedforward element (feedforward multiplier) -   62, to 65: feedback element (feedback multiplier) -   66, 67: transfer element (multiplier) 

1. A digital controller which supplies an output voltage v_(o) to load connected via a load connecting line and is incorporated in an power amplifier, wherein said digital controller is equipped with a manipulating variable calculator to which said output voltage v_(o), a load voltage v_(L) that is a voltage across said load and an arbitrary target value r are input and which calculates a manipulating variable ξ₁ (xi₁) for said power amplifier and according to the following formula 1 $\begin{matrix} {\xi_{1} = {\frac{1}{{z\left( {z - F_{16}} \right)} - F_{15}}\left\{ {{\left\lbrack {{\left( {z - F_{16}} \right)F_{12}} + F_{14}} \right\rbrack v_{o}} + {\left\lbrack {{\left( {z - F_{16}} \right)F_{112}} + F_{132}} \right\rbrack v_{L}} + {{\frac{k_{z}}{z - 1}\left\lbrack {{\left( {z - F_{16}} \right)H} + H_{r}} \right\rbrack}\left( {r - v_{L}} \right)} + {\left\lbrack {{\left( {z - F_{16}} \right)H} + H_{r}} \right\rbrack r}} \right\}}} & \left\lbrack {{Formula}\mspace{14mu} 1} \right\rbrack \end{matrix}$ (where z=exp(jωt), and H, Hr are poles of transfer functions specified between said target value r and a control variable y and kz, F₁₂, F₁₄, F₁₅, F₁₆, F₁₁₂, F₁₃₂ are preset given parameters) said manipulating variable calculator calculates said manipulating variable ξ₁.
 2. The digital controller according to claim 1, said manipulating variable calculator comprising: a first manipulating variable calculator to which said target value r is input, a second manipulating variable calculator to which said output voltage v_(o) is input, a third manipulating variable calculator to which said load voltage v_(L) is input, a subtracter which outputs a difference between said target value r and said load voltage v_(L), an integrator which integrates said difference output from said subtracter, and a fourth manipulating variable calculator to which a output from said integrator, wherein said manipulating variable calculator performs an arithmetic operation using outputs from said first to fourth manipulating variable calculators, thus outputting a manipulating variable ξ₁ (xi₁).
 3. (canceled)
 4. The digital controller according to claim 1, said manipulating variable calculators comprising: a first digital filter with a transfer function G_(r2) expressed by the following formula 2, said target value r being input to said first digital filter, $\begin{matrix} {G_{r\; 2} = \frac{{\left( {z - F_{16}} \right)H} + H_{r}}{{z\left( {z - F_{16}} \right)} - F_{15}}} & \left\lbrack {{Formula}\mspace{14mu} 2} \right\rbrack \end{matrix}$ a second digital filter with a transfer function G_(VO) expressed by formula 3, said output voltage v_(o) being input to said second digital filter, $\begin{matrix} {G_{Vo} = \frac{{\left( {z - F_{16}} \right)F_{12}} + F_{14}}{{z\left( {z - F_{16}} \right)} - F_{15}}} & \left\lbrack {{Formula}\mspace{14mu} 3} \right\rbrack \end{matrix}$ a third digital filter with a transfer function G_(VL2) expressed by formula 4, said load voltage v_(L) being input to said third digital filter, $\begin{matrix} {G_{{VL}\; 2} = \frac{{\left( {z - F_{16}} \right)F_{112}} + F_{132}}{{z\left( {z - F_{16}} \right)} - F_{15}}} & \left\lbrack {{Formula}\mspace{14mu} 4} \right\rbrack \end{matrix}$ a subtracter which outputs said difference between said target value r and said load voltage v_(L), an integrator which integrates said difference output from said subtracter, a fourth digital filter with a transfer function G_(e) expressed by formula 5, an output from said integrator is input to said fourth digital filter, $\begin{matrix} {G_{e} = \frac{{\left( {z - F_{16}} \right)k_{z}H} + {k_{z}H_{r}}}{{z\left( {z - F_{16}} \right)} - F_{15}}} & \left\lbrack {{Formula}\mspace{14mu} 5} \right\rbrack \end{matrix}$ and an adder which adds outputs from said first to fourth digital filters, outputting said manipulating variable ξ₁.
 5. The digital controller according to claim 1, said manipulating variable calculator comprising: each of feedforward multipliers which multiply parameters Hr, H by said target value r that is defined as input, each of feedback multipliers which multiply said parameters F₁₂, F₁₄ by the output voltage v_(o) that is defined as input, and each of feedback multipliers which multiply the parameters F₁₁₂, F₁₃₂ by the load voltage v_(L) that is defined as input, wherein a difference between said target value r and said load voltage v_(L) is input from a subtracter to an integrator, an output from said integrator is input to each of said multipliers which do multiplication of said parameters Hkz, Hrkz, an output from said multiplier with said parameter Hrkz, an output from each of said feedback multipliers which do multiplication of said parameters F₁₄, F₁₅ F₁₆, F₁₃₂, and an output from said feedforward multiplier which does multiplication of said parameter Hr are added by a first adder, an output produced from said addition by said first adder is input to a first delay element which performs delay of one sampling time, a delayed output ξ₂ (xi₂) from said first delay element is input to said feedback multiplier with said parameter F₁₆, said delayed output ξ₂ (xi₂) from said first delay element, an output from each of said feedback multipliers with said parameters F₁₂, F₁₁₂, an output from said feedforward multiplier with said parameter H, and an output from said multiplier with said parameter Hkz are added by a second adder, an output produced by said addition by said second adder is input to a second delay element which performs delay of one sampling time, a delayed output ξ₁ (xi₁) from said second delay element is input to said feedback multiplier with said parameter F₁₅ and then is output as a manipulating variable ξ₁ (xi₁).
 6. The digital controller according to claim 1, wherein said manipulating variable calculator is made up by omitting parameters which are too small to influence largely the control system from among said parameters H, Hr, kz, F₁₂, F₁₄ F₁₅, F₁₆, F₁₁₂, F₁₃₂.
 7. The digital controller according to claim 5, wherein said manipulating variable calculator is dispensed with each of said feedforward multipliers.
 8. The digital controller according to claim 2, said manipulating variable calculators comprising: a first digital filter with a transfer function G_(r2) expressed by the following formula 2, said target value r being input to said first digital filter, $\begin{matrix} {G_{r\; 2} = \frac{{\left( {z - F_{16}} \right)H} + H_{r}}{{z\left( {z - F_{16}} \right)} - F_{15}}} & \left\lbrack {{Formula}\mspace{14mu} 2} \right\rbrack \end{matrix}$ a second digital filter with a transfer function G_(VO) expressed by formula 3, said output voltage v_(o) being input to said second digital filter, $\begin{matrix} {G_{Vo} = \frac{{\left( {z - F_{16}} \right)F_{12}} + F_{14}}{{z\left( {z - F_{16}} \right)} - F_{15}}} & \left\lbrack {{Formula}\mspace{14mu} 3} \right\rbrack \end{matrix}$ a third digital filter with a transfer function G_(VL2) expressed by formula 4, said load voltage v_(L) being input to said third digital filter, $\begin{matrix} {G_{{VL}\; 2} = \frac{{\left( {z - F_{16}} \right)F_{112}} + F_{132}}{{z\left( {z - F_{16}} \right)} - F_{15}}} & \left\lbrack {{Formula}\mspace{14mu} 4} \right\rbrack \end{matrix}$ a subtracter which outputs said difference between said target value r and said load voltage v_(L), an integrator which integrates said difference output from said subtracter, a fourth digital filter with a transfer function G_(e) expressed by formula 5, an output from said integrator is input to said fourth digital filter, $\begin{matrix} {G_{e} = \frac{{\left( {z - F_{16}} \right)k_{z}H} + {k_{z}H_{r}}}{{z\left( {z - F_{16}} \right)} - F_{15}}} & \left\lbrack {{Formula}\mspace{14mu} 5} \right\rbrack \end{matrix}$ and an adder which adds outputs from said first to fourth digital filters, outputting said manipulating variable ξ₁.
 9. The digital controller according to claim 2, said manipulating variable calculator comprising: each of feedforward multipliers which multiply parameters Hr, H by said target value r that is defined as input, each of feedback multipliers which multiply said parameters F₁₂, F₁₄ by the output voltage v_(o) that is defined as input, and each of feedback multipliers which multiply the parameters F₁₁₂, F₁₃₂ by the load voltage v_(L) that is defined as input, wherein a difference between said target value r and said load voltage v_(L) is input from a subtracter to an integrator, an output from said integrator is input to each of said multipliers which do multiplication of said parameters Hkz, Hrkz, an output from said multiplier with said parameter Hrkz, an output from each of said feedback multipliers which do multiplication of said parameters F₁₄, F₁₅ F₁₆, F₁₃₂, and an output from said feedforward multiplier which does multiplication of said parameter Hr are added by a first adder, an output produced from said addition by said first adder is input to a first delay element which performs delay of one sampling time, a delayed output ξ₂ (xi₂) from said first delay element is input to said feedback multiplier with said parameter F₁₆, said delayed output ξ₂ (xi₂) from said first delay element, an output from each of said feedback multipliers with said parameters F₁₂, F₁₁₂, an output from said feedforward multiplier with said parameter H, and an output from said multiplier with said parameter Hkz are added by a second adder, an output produced by said addition by said second adder is input to a second delay element which performs delay of one sampling time, a delayed output ξ₁ (xi₁) from said second delay element is input to said feedback multiplier with said parameter F₁₅ and then is output as a manipulating variable ξ₁ (xi₁).
 10. The digital controller according to claim 2, wherein said manipulating variable calculator is made up by omitting parameters which are too small to influence largely the control system from among said parameters H, Hr, kz, F₁₂, F₁₄ F₁₅, F₁₆, F₁₁₂, F₁₃₂.
 11. The digital controller according to claim 4, wherein said manipulating variable calculator is made up by omitting parameters which are too small to influence largely the control system from among said parameters H, Hr, kz, F₁₂, F₁₄ F₁₅, F₁₆, F₁₁₂, F₁₃₂.
 12. The digital controller according to claim 8, wherein said manipulating variable calculator is made up by omitting parameters which are too small to influence largely the control system from among said parameters H, Hr, kz, F₁₂, F₁₄ F₁₅, F₁₆, F₁₁₂, F₁₃₂.
 13. The digital controller according to claim 5, wherein said manipulating variable calculator is made up by omitting parameters which are too small to influence largely the control system from among said parameters H, Hr, kz, F₁₂, F₁₄ F₁₅, F₁₆, F₁₁₂, F₁₃₂.
 14. The digital controller according to claim 9, wherein said manipulating variable calculator is made up by omitting parameters which are too small to influence largely the control system from among said parameters H, Hr, kz, F₁₂, F₁₄ F₁₅, F₁₆, F₁₁₂, F₁₃₂.
 15. The digital controller according to claim 5, wherein said manipulating variable calculator is dispensed with each of said feedforward multipliers.
 16. The digital controller according to claim 9, wherein said manipulating variable calculator is dispensed with each of said feedforward multipliers.
 17. The digital controller according to claim 6, wherein said manipulating variable calculator is dispensed with each of said feedforward multipliers.
 18. The digital controller according to claim 10, wherein said manipulating variable calculator is dispensed with each of said feedforward multipliers.
 19. The digital controller according to claim 11, wherein said manipulating variable calculator is dispensed with each of said feedforward multipliers.
 20. The digital controller according to claim 12, wherein said manipulating variable calculator is dispensed with each of said feedforward multipliers.
 21. The digital controller according to claim 13, wherein said manipulating variable calculator is dispensed with each of said feedforward multipliers.
 22. The digital controller according to claim 14, wherein said manipulating variable calculator is dispensed with each of said feedforward multipliers. 